Convert interval to max_rate_hz

PX4 · Aug 5, 2024 · b10d53f · b10d53f
1 parent 5117b54
commit b10d53f
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/src/modules/uxrce_dds_client/dds_topics.h.em b/src/modules/uxrce_dds_client/dds_topics.h.em
@@ -44,7 +44,7 @@ struct SendSubscription {
 	const char* topic;
 	uint32_t topic_size;
 	UcdrSerializeMethod ucdr_serialize_method;
-	uint16_t polling_interval;
+	uint16_t max_rate_hz;
 };
 
 // Subscribers for messages to send
@@ -57,7 +57,7 @@ struct SendTopicsSubs {
 			  "@(pub['topic'])",
 			  ucdr_topic_size_@(pub['simple_base_type'])(),
 			  &ucdr_serialize_@(pub['simple_base_type']),
-			  @(pub['polling_interval']),
+			  @(pub['max_rate_hz']),
 			},
 @[    end for]@
 	};
@@ -75,7 +75,7 @@ void SendTopicsSubs::init() {
 	for (unsigned idx = 0; idx < sizeof(send_subscriptions)/sizeof(send_subscriptions[0]); ++idx) {
 		fds[idx].fd = orb_subscribe(send_subscriptions[idx].orb_meta);
 		fds[idx].events = POLLIN;
-		orb_set_interval(fds[idx].fd, send_subscriptions[idx].polling_interval);
+		orb_set_interval(fds[idx].fd, send_subscriptions[idx].max_rate_hz ? 1000000 / send_subscriptions[idx].max_rate_hz : 0);
 	}
 }
 

diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -37,7 +37,7 @@ publications:
 
   - topic: /fmu/out/sensor_combined
     type: px4_msgs::msg::SensorCombined
-    polling_interval: 1
+    max_rate_hz: 1000
 
   - topic: /fmu/out/timesync_status
     type: px4_msgs::msg::TimesyncStatus

diff --git a/src/modules/uxrce_dds_client/generate_dds_topics.py b/src/modules/uxrce_dds_client/generate_dds_topics.py
@@ -42,7 +42,7 @@
 import em
 import yaml
 
-DEFAULT_POLLING_RATE = 10
+DEFAULT_MAX_RATE_HZ = 100
 
 parser = argparse.ArgumentParser()
 parser.add_argument("-m", "--topic-msg-dir", dest='msgdir', type=str,
@@ -100,10 +100,10 @@ def process_message_type(msg_type):
     msg_type['dds_type'] = msg_type['type'].replace("::msg::", "::msg::dds_::") + "_"
     # topic_simple: eg vehicle_status
     msg_type['topic_simple'] = msg_type['topic'].split('/')[-1]
-    if "polling_interval" not in msg_type:
-        msg_type["polling_interval"] = DEFAULT_POLLING_RATE
+    if "max_rate_hz" not in msg_type:
+        msg_type["max_rate_hz"] = DEFAULT_MAX_RATE_HZ
     else:
-        msg_type["polling_interval"] = int(msg_type["polling_interval"])
+        msg_type["max_rate_hz"] = int(msg_type["max_rate_hz"])
 
 pubs_not_empty = msg_map['publications'] is not None
 if pubs_not_empty: